Modbus Rtu Communication Protocol; Connection Setup - ROBOTIQ 2-Finger Adaptive Robot Gripper - 200 Instruction Manual

Robotiq 2-Finger Adaptive Robot Gripper - 200

4.9 MODBUS RTU communication protocol

The Gripper can be controlled over USB using the Modbus RTU protocol on the mini-USB port. This section is
intended to provide guidelines for setting up a Modbus scanner that will adequately communicate with the Gripper.
For a general introduction to Modbus RTU and for details regarding the CRC algorithm, the reader is invited to read
the Modbus over serial line specification and implementation guide available at:
s_over_serial_line_V1.pdf
For debugging purposes, the reader is also invited to download one of many free Modbus scanners such as the CA
S Modbus Scanner from

4.9.1 Connection setup

The following table describes the connection requirement for controlling the Gripper using the Modbus RTU protocol.
Physical Interface
Number Notation
Supported Functions
Exception Responses
Robot Output / Gripper Input First Register
Robot Input / Gripper Output First Register
Each register (word - 16 bits) of the Modbus RTU protocol is composed of
Gripper. The first Gripper output Modbus register (0x07D0) is composed from the first
2-Finger – 200 registers (byte 0 and byte 1).
Robotiq inc. © 2008-2013
.
Chipkin Automation Systems
PROPRIETY
Baud Rate
Data Bits
Stop Bit
Parity
Slave ID
available at: http://www.chipkin.com/cas-modbus-scanner
USB (virtual serial connector)
drivers can be found at
Read Holding Registers (FC03)
Preset Single Register (FC06)
Preset Multiple Registers (FC16)
2 registers (bytes – 8 bits) from the
Instruction Manual
http://www.modbus.org/docs/Modbu
VALUE
ftdichip.com
115,200 bps
8
1
None
Hexadecimal
Not supported
0x0009 (9)
0x03E8 (1000)
0x07D0 (2000)
2 Robotiq Adaptive Gripper
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